fix: Update for Pinocchio 4, ROS 2 Lyrical, and Pixi lockfile v7

[sea-bass]

This PR does a bunch of updates:

1. Updates the use of ament_target_dependencies to target_link_libraries where possible, critically noting that this is not only a better way to link, but also that it makes this package build with Pinocchio 4.
2. Adds Lyrical and Rolling to Pixi and to CI, trimming down the copy paste in the CI jobs since this could easily be matrixed. I may ask the maintainers to update the list of required status check in their settings if this looks good.
3. Updates the pixi lockfile format to v7 (sorry for the massive diff this causes!)

Backward compatibility is fully preserved BTW, still builds with Pinocchio 3.x -- hence the fix:.